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Plane: use scaled outputs for AFS failsafe 

we need to use scaled outputs so that derived outputs (such as elevons
and vtail) have a valid input to use
mission-4.1.18
Andrew Tridgell 8 years ago
parent
923b201025
commit
1d626db3b1
2 changed files with 9 additions and 9 deletions
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  1. 12
      ArduPlane/afs_plane.cpp
  2. 6
      ArduPlane/servos.cpp

12
ArduPlane/afs_plane.cpp
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@ -18,12 +18,12 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void) @@ -18,12 +18,12 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
plane.g2.servo_channels.disable_passthrough(true);
// and all aux channels
SRV_Channels::set_output_limit(SRV_Channel::k_flap_auto, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_output_limit(SRV_Channel::k_flap, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_output_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_output_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_output_limit(SRV_Channel::k_elevator_with_input, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_flap_auto, 100);
SRV_Channels::set_output_scaled(SRV_Channel::k_flap, 100);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator_with_input, SERVO_MAX);
SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);

6
ArduPlane/servos.cpp
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@ -725,9 +725,9 @@ void Plane::set_servos(void) @@ -725,9 +725,9 @@ void Plane::set_servos(void)
// after an auto land and auto disarm, set the servos to be neutral just
// in case we're upside down or some crazy angle and straining the servos.
if (landing.get_then_servos_neutral() == 1) {
SRV_Channels::set_output_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_scaled(SRV_Channel::k_aileron, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
} else if (landing.get_then_servos_neutral() == 2) {
SRV_Channels::set_output_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);

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